robotic 0.2.8.dev4__cp312-cp312-manylinux2014_x86_64.whl → 0.2.9__cp312-cp312-manylinux2014_x86_64.whl

robotic/include/rai/Core/array.ipp

@@ -777,6 +777,7 @@ template<class T> Array<T> Array<T>::operator()(std::pair<int, int> I) const {
 
 /// range reference access
 template<class T> Array<T> Array<T>::operator()(int i, std::pair<int, int> J) const {
+  if(i<0) i += d0;
   Array<T> z;
   z.referToRange(*this, i, J.first, J.second);
 //  if(J.size()==2)
@@ -788,6 +789,8 @@ template<class T> Array<T> Array<T>::operator()(int i, std::pair<int, int> J) co
 
 /// range reference access
 template<class T> Array<T> Array<T>::operator()(int i, int j, std::initializer_list<int> K) const {
+  if(i<0) i += d0;
+  if(j<0) j += d1;
   Array<T> z;
   if(K.size()==2) z.referToRange(*this, i, j, K.begin()[0], K.begin()[1]);
   else if(K.size()==0) z.referToDim(*this, i, j);

robotic/include/rai/Core/graph.h

@@ -120,7 +120,6 @@ struct Graph : NodeL {
   //-- adding nodes
   template<class T> Node_typed<T>* add(const char* key);
   template<class T> Node_typed<T>* add(const char* key, const T& x);
-  template<class T> Node_typed<T>* add(const char* key, const T& x, const NodeL& parents);
   template<class T> Node_typed<T&>* addRef(const char* key, const T& x);
 
   //Node_typed<int>* add(const uintA& parentIdxs); ///< add 'vertex tupes' (like edges) where vertices are referred to by integers
@@ -138,6 +137,9 @@ struct Graph : NodeL {
   NodeL findNodesOfType(const std::type_info& type, const char* key, bool recurseUp=false, bool recurseDown=false) const;
   NodeL findGraphNodesWithTag(const char* tag) const;
 
+  //
+  template<class T> Node* set(const char* key, const T& x){ Node* n = findNodeOfType(typeid(T), key); if(n) n->as<T>()=x; else n=add<T>(key, x); return n; }
+
   //-- get nodes
   Node* operator[](const char* key) const { return findNode(key); } ///< returns nullptr if not found
   Node* getNode(const char* key) const { return findNode(key); } ///< returns nullptr if not found
@@ -369,12 +371,6 @@ struct Node_typed : Node {
     if(is<Graph>()) graph().isNodeOfGraph = this; //this is the only place where isNodeOfGraph is set
   }
 
-  Node_typed(Graph& container, const char* key, const T& _value, const NodeL& parents)
-    : Node(typeid(T), container, key), value(_value) {
-    if(parents.N) setParents(parents);
-    if(is<Graph>()) graph().isNodeOfGraph = this; //this is the only place where isNodeOfGraph is set
-  }
-
   virtual ~Node_typed() {
   }
 
@@ -409,7 +405,7 @@ struct Node_typed : Node {
       g.copy(graph());
       return g.isNodeOfGraph;
     }
-    return container.add<T>(key,  value, parents);
+    return container.add<T>(key,  value)->setParents(parents);
   }
 };
 } //namespace
@@ -536,10 +532,6 @@ template<class T> Node_typed<T>* Graph::add(const char* key, const T& x) {
   return new Node_typed<T>(*this, key, x);
 }
 
-template<class T> Node_typed<T>* Graph::add(const char* key, const T& x, const NodeL& parents) {
-  return new Node_typed<T>(*this, key, x, parents);
-}
-
 template<class T> Node_typed<T&>* Graph::addRef(const char* key, const T& x) {
   return new Node_typed<T&>(*this, key, (T&)x);
 }

robotic/include/rai/Geo/mesh.h

@@ -17,6 +17,7 @@ namespace rai { struct Mesh; }
 typedef rai::Array<rai::Mesh> MeshA;
 typedef rai::Array<rai::Mesh*> MeshL;
 struct ANN;
+struct SharedTextureImage{ byteA img; uint glBufferID=UINT32_MAX; };
 
 namespace rai {
 
@@ -33,7 +34,9 @@ struct Mesh {
   arr   Tn;             ///< triangle normals (optional)
 
   arr texCoords;        ///< texture coordinates for each vertex, dimensionality (V.d0, 2)
-  byteA texImg;         ///< texture image
+  // byteA texImg;         ///< texture image
+  shared_ptr<SharedTextureImage> _texImg;
+  SharedTextureImage& texImg(const char* file=0);
 
   uintA cvxParts;
   uintAA graph;         ///< for every vertex, the set of neighboring vertices

robotic/include/rai/Gui/RenderData.h

@@ -25,8 +25,9 @@ enum RenderType { _solid, _shadow, _tensor, _text, _marker, _transparent, _all }
 
 struct RenderAsset{
   floatA vertices, colors, normals;  //for 2D textures: colors are vertex-wise texture coordinates
-  byteA texture;
-  GLuint vao, vertexBuffer, colorBuffer, normalBuffer, textureBuffer;
+  GLuint vao, vertexBuffer, colorBuffer, normalBuffer;
+  shared_ptr<SharedTextureImage> _texture;
+  SharedTextureImage& texture(){ if(!_texture) _texture=make_shared<SharedTextureImage>(); return *_texture; }
   GLenum mode=GL_TRIANGLES;
   uint textureDim=0;
   bool initialized=false;

robotic/include/rai/Kin/kin.h

@@ -272,6 +272,7 @@ public:
   FeatherstoneInterface& fs();
   bool hasView();
   int view(bool pause=false, const char* txt=nullptr);
+  void view_savePng(str saveVideoPath="z.vid/", int count=-1);
   void saveVideoPic(uint& t, const char* pathPrefix="vid/");
   void glAdd(void (*call)(void*, OpenGL&), void* classP);
   int glAnimate();

robotic/rai-robotModels/ranger/meshes/cleanMeshes.mlx

@@ -0,0 +1,23 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Merge Close Vertices">
+  <Param tooltip="All the vertices that closer than this threshold are merged together. Use very small values, default values is 1/10000 of bounding box diagonal. " type="RichAbsPerc" description="Merging distance" min="0" value="0.001" name="Threshold" max="0.00938277"/>
+ </filter>
+ <filter name="Repair non Manifold Edges by removing faces"/>
+ <filter name="Simplification: Quadric Edge Collapse Decimation">
+  <Param tooltip="The desired final number of faces." type="RichInt" description="Target number of faces" value="20000" name="TargetFaceNum"/>
+  <Param tooltip="If non zero, this parameter specifies the desired final size of the mesh as a percentage of the initial size." type="RichFloat" description="Percentage reduction (0..1)" value="0" name="TargetPerc"/>
+  <Param tooltip="Quality threshold for penalizing bad shaped faces.&lt;br>The value is in the range [0..1]&#xa; 0 accept any kind of face (no penalties),&#xa; 0.5  penalize faces with quality &lt; 0.5, proportionally to their shape&#xa;" type="RichFloat" description="Quality threshold" value="0.3" name="QualityThr"/>
+  <Param tooltip="The simplification process tries to do not affect mesh boundaries during simplification" type="RichBool" description="Preserve Boundary of the mesh" value="false" name="PreserveBoundary"/>
+  <Param tooltip="The importance of the boundary during simplification. Default (1.0) means that the boundary has the same importance of the rest. Values greater than 1.0 raise boundary importance and has the effect of removing less vertices on the border. Admitted range of values (0,+inf). " type="RichFloat" description="Boundary Preserving Weight" value="1" name="BoundaryWeight"/>
+  <Param tooltip="Try to avoid face flipping effects and try to preserve the original orientation of the surface" type="RichBool" description="Preserve Normal" value="false" name="PreserveNormal"/>
+  <Param tooltip="Avoid all the collapses that should cause a topology change in the mesh (like closing holes, squeezing handles, etc). If checked the genus of the mesh should stay unchanged." type="RichBool" description="Preserve Topology" value="false" name="PreserveTopology"/>
+  <Param tooltip="Each collapsed vertex is placed in the position minimizing the quadric error.&#xa; It can fail (creating bad spikes) in case of very flat areas. &#xa;If disabled edges are collapsed onto one of the two original vertices and the final mesh is composed by a subset of the original vertices. " type="RichBool" description="Optimal position of simplified vertices" value="true" name="OptimalPlacement"/>
+  <Param tooltip="Add additional simplification constraints that improves the quality of the simplification of the planar portion of the mesh, as a side effect, more triangles will be preserved in flat areas (allowing better shaped triangles)." type="RichBool" description="Planar Simplification" value="false" name="PlanarQuadric"/>
+  <Param tooltip="How much we should try to preserve the triangles in the planar regions. If you lower this value planar areas will be simplified more." type="RichFloat" description="Planar Simp. Weight" value="0.001" name="PlanarWeight"/>
+  <Param tooltip="Use the Per-Vertex quality as a weighting factor for the simplification. The weight is used as a error amplification value, so a vertex with a high quality value will not be simplified and a portion of the mesh with low quality values will be aggressively simplified." type="RichBool" description="Weighted Simplification" value="false" name="QualityWeight"/>
+  <Param tooltip="After the simplification an additional set of steps is performed to clean the mesh (unreferenced vertices, bad faces, etc)" type="RichBool" description="Post-simplification cleaning" value="true" name="AutoClean"/>
+  <Param tooltip="The simplification is applied only to the selected set of faces.&#xa; Take care of the target number of faces!" type="RichBool" description="Simplify only selected faces" value="false" name="Selected"/>
+ </filter>
+ <filter name="Repair non Manifold Edges by removing faces"/>
+</FilterScript>

robotic/rai-robotModels/ranger/meshes/cleanMeshes.sh

@@ -0,0 +1,8 @@
+for file in *.dae
+do
+    cmd="meshlabserver -i $file -o ${file%.*}.ply -s cleanMeshes.mlx -om"
+    echo $cmd
+    $cmd
+done
+
+# meshlabserver -i upper_forearm/W0.STL -o upper_forearm/W0.ply -s cleanMeshes.mlx -om

robotic/rai-robotModels/ranger/ranger.g

@@ -0,0 +1,33 @@
+## create standard base frame before including
+
+ranger_base { multibody: true, multibody_gravity: false }
+
+ranger_transX(ranger_base) { joint: transX, limits: [-5 5], ctrl_H: 2., motorLambda:.02, motorMass:40 }
+ranger_transY(ranger_transX) { joint: transY, limits: [-5 5], ctrl_H: 2., motorLambda:.02, motorMass:40 }
+#ranger_rot(ranger_trans) { joint: hingeZ, limits: [-5 5] }
+#ranger_rot(ranger_trans) { joint: circleZ, limits: [-1.1 -1.1 1.1 1.1], ctrl_H: 2. }
+ranger_rot(ranger_transY) { }
+
+Prefix: ranger_
+Include: <ranger_clean.g>
+Prefix!
+
+ranger_coll(ranger_base_link) { Q:[0, 0, -.14], shape: ssBox, size: [.75, .5, .3, .05], color:[1.,1.,1.,.5], contact: 1 }
+
+Edit ranger_fr_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_fl_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_br_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_bl_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_base_link_0: { color:[.9] }
+
+Edit ranger_base_link(ranger_rot): { Q:[0, 0, .315], mass: 20 }
+
+Edit ranger_fr_joint: { limits: [-3, 3] },
+Edit ranger_fl_joint: { limits: [-3, 3] },
+Edit ranger_br_joint: { limits: [-3, 3] },
+Edit ranger_bl_joint: { limits: [-3, 3] },
+        
+Edit ranger_fr_joint: { joint: none },
+Edit ranger_fl_joint: { joint: none },
+Edit ranger_br_joint: { joint: none },
+Edit ranger_bl_joint: { joint: none },

robotic/rai-robotModels/ranger/ranger_clean.g

@@ -0,0 +1,18 @@
+base_link: { mass: 0.162716, inertia: [0.0007237, -1.55745e-08, -3.42379e-12, 0.000744047, 2.24935e-07, 2.14413e-05] },
+base_link_0(base_link): { Q: [0, 0, 0, 0.000796327, 1, 0, 0], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/ranger_mini3.ply>, visual: True },
+fr_joint_origin(base_link): { Q: [0.25, -0.19, -0.1] },
+fl_joint_origin(base_link): { Q: [0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+br_joint_origin(base_link): { Q: [-0.25, -0.19, -0.1] },
+bl_joint_origin(base_link): { Q: [-0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+fr_joint(fr_joint_origin): { joint: hingeZ, joint_scale: -1 },
+fl_joint(fl_joint_origin): { joint: hingeZ, joint_scale: -1 },
+br_joint(br_joint_origin): { joint: hingeZ, joint_scale: -1 },
+bl_joint(bl_joint_origin): { joint: hingeZ, joint_scale: -1 },
+fr_Link(fr_joint): { mass: 2.2786, inertia: [0.0063625, -1.0581e-07, -4.0831e-07, 0.006363, -3.4944e-08, 0.010465] },
+fl_Link(fl_joint): { mass: 2.2786, inertia: [0.0063695, -2.1067e-08, -0.00016867, 0.006363, -1.0301e-08, 0.010458] },
+br_Link(br_joint): { mass: 2.2786, inertia: [0.0063627, -2.1069e-08, -1.587e-05, 0.006363, 9.3201e-09, 0.010465] },
+bl_Link(bl_joint): { mass: 2.2786, inertia: [0.0063656, -8.1498e-08, -0.00011049, 0.006363, 6.6847e-08, 0.010462] },
+fr_Link_0(fr_Link): { Q: [-0.248, -0.113, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.ply>, visual: True },
+fl_Link_0(fl_Link): { Q: [-0.248, 0.1265, 0.191, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.ply>, visual: True },
+br_Link_0(br_Link): { Q: [-0.241, -0.11, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.ply>, visual: True },
+bl_Link_0(bl_Link): { Q: [-0.241, 0.13, 0.2, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.ply>, visual: True }

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.8.dev4'
+__version__ = '0.2.9'

{robotic-0.2.8.dev4.dist-info → robotic-0.2.9.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: robotic
-Version: 0.2.8.dev4
+Version: 0.2.9
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint

{robotic-0.2.8.dev4.dist-info → robotic-0.2.9.dist-info}/RECORD

@@ -1,10 +1,10 @@
 robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
 robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
 robotic/_robotic.pyi,sha256=n3SGnLZXHD2OAYfdyUs7D_0exUox-4ZOY4Z2g_TrPx4,73626
-robotic/_robotic.so,sha256=r8JaECy_FDbItMuXpB_ADU66wOhS8GRUZHEIciaTdRo,1230592
-robotic/librai.so,sha256=wG2xwkWhOxujPDmOVFi4hKp7Wmp6PRykAvMP40W-fA4,40187688
+robotic/_robotic.so,sha256=FcF2Idtg2cFVAHBbdMOD6E4lhxnpiq0-aL3GDDhHdXk,1230592
+robotic/librai.so,sha256=0HQ3yE2-SI33rTLRc_NtLe2kcI_HCNIPHuPU5zyRiFM,40175496
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=o2BWBOG3MkBEJ_QhYL3uQ1-KhBh5NHylJ0CDTnYCYk4,52168
+robotic/meshTool,sha256=VjGOnOwgoO0iujNEhKJ8D_AOscHs_mlIWi1tuWoCKVw,48072
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
 robotic/ry-bot,sha256=nd2yWqaDsFbwAmr7ySdOjq06ek0E1FMHTxPRO-7e2Q8,2294
@@ -16,7 +16,7 @@ robotic/ry-urdf2rai,sha256=88CFu5ikKsjy4wQixvCZqtNOqCheBiT18cjZfOsJA8A,7736
 robotic/ry-urdf2yaml,sha256=D36MR8Ui6Ry9V0TqJOBaPCWC89OZa43Fytz4P7Y4v0w,8543
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=ZXURDm-5GIDwe3tGJPR-rwsbLBgY-2r_P4FqGqGXp-8,27
+robotic/version.py,sha256=bd8hlxKMc0Fh_2w5GWfqBtuwa8uTepTMjT8w7F-EKvY,22
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
 robotic/include/rai/Algo/RidgeRegression.h,sha256=VXiv6-xr3j--CN7DJTzUg9Xb49zV9FZ9dwzxP1CmcPM,3730
 robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=9ZtYLHXx9sExj0lZV6F5ZWaCtkm0R4hMiYb-KJjktnc,3339
@@ -46,10 +46,10 @@ robotic/include/rai/Control/control.h,sha256=_dJefR6WzvdQMaJIYIBuYP8NwoKgNeG4owh
 robotic/include/rai/Control/ctrlMsg.h,sha256=uGuwAaKM1UsQW3hTNv4AihW99MJMuow4cxa9-AU9AmA,1121
 robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIgREqSjRctz0,2045
 robotic/include/rai/Core/array.h,sha256=YYdSaiZ0o7RoC_Zv6S1oGWMuFBdSrOWIIt-6KuaiO0Q,25290
-robotic/include/rai/Core/array.ipp,sha256=hdyULakmWOdt6Gi_-4338uzkWbrkw2_eCh-H3nXFwuo,58314
+robotic/include/rai/Core/array.ipp,sha256=ELRBdyAqrIi3taDBe74rjPQRDYp5MwYFn4eYAhwE8EI,58371
 robotic/include/rai/Core/arrayDouble.h,sha256=ACvesIGz_0UP3G-x7-LlfGzodKB7EVsGeX5z2RbMFx8,28869
 robotic/include/rai/Core/defines.h,sha256=hBTgf5EiJ50rQYW1saGw8Ox87aKVFOYVKnFw0jojVW0,6894
-robotic/include/rai/Core/graph.h,sha256=Eo0j8q8IbY_M7V2FwzKAi9E8makxgRBvrFcPfJKuCtE,20890
+robotic/include/rai/Core/graph.h,sha256=YlDZVq5woqF7nYSgqk2hn6ynVPpA4SJakjPic2cjA2c,20534
 robotic/include/rai/Core/h5.h,sha256=FzIP0eLL7XYg5eRjJgfPIt9SwY5HBaazy4ddoCcpkSU,1057
 robotic/include/rai/Core/thread.h,sha256=wjwvXACwI8B6rhZSf2UDruWUb8kT9Xjm-VE-OnUQpwk,18248
 robotic/include/rai/Core/util.h,sha256=KhBcYsprUaZXt2BMpsOACoOcmEWLEtOG4WM9Dcooamc,19514
@@ -64,7 +64,7 @@ robotic/include/rai/Geo/assimpInterface.h,sha256=2Jg7v2GZ83nz4kkgPLzbSWTIBmL9nZg
 robotic/include/rai/Geo/depth2PointCloud.h,sha256=0mXJnTk0sMB--KDE9CO_2gKgGw4gHXUe7xg6DcROhvk,1168
 robotic/include/rai/Geo/fclInterface.h,sha256=iNdxNc_DSOgYCLyCajxP8lxdnrNcyoKQmjUlVmjxjQM,940
 robotic/include/rai/Geo/geo.h,sha256=qZFXffvHa2sM2JsvvKWkRnlQ59gdD8qvsGyDtXrk_Oo,14715
-robotic/include/rai/Geo/mesh.h,sha256=ompiO_tbsImfg-QqGognNsoqJxW77Kk10Fe6jiS_CNY,6639
+robotic/include/rai/Geo/mesh.h,sha256=cmEhGxaTaBc9K2Z7lOjm7ZFzH9teVYA6I_Kr1B3sxlg,6803
 robotic/include/rai/Geo/pairCollision.h,sha256=kFEtQpkgPV_VKJ6YBDBKdb3ko62_s7HKDUti0kB2yYI,4374
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
 robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=hrC838CsYWQ6TXm536iNRwB8W5-62LNb-JPqPoDAFPE,4831
@@ -87,7 +87,7 @@ robotic/include/rai/Geo/ccd_rai/support.h,sha256=B9KBuOctG7Hx-e1TXpnkU667WVH7SP4
 robotic/include/rai/Geo/ccd_rai/vec3.h,sha256=ARkNnQz8yWf_Cs3vgt22zclN1cLeGmwWPTVHVpvmfEA,8115
 robotic/include/rai/Geo/ply/ply.h,sha256=_oAXgQ5CyHvUMtPDBxYtOBbnKDVoZf5PKMswisqvOeI,9384
 robotic/include/rai/Geo/vhacd/VHACD.h,sha256=QT_cT6PPzec_mxKODsS9cJGr6nBt6S8cUJF7dCeBQCc,258343
-robotic/include/rai/Gui/RenderData.h,sha256=FPN7ApW8SK-MAI5wIoCU8_ezJbJogUMxfhAvK6GSAJ4,4775
+robotic/include/rai/Gui/RenderData.h,sha256=PpNfJ6-k2mPTMv2CemQ8Ki8rPzQWrburopSgtosvb-k,4897
 robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS5o,2596
 robotic/include/rai/Gui/opengl.h,sha256=sRvOz-QGHwgrf11UiQV4At4G2FjClveTTJorXyer1Fw,9036
 robotic/include/rai/Gui/plot.h,sha256=xhTBY84UN4KpgZsX7SJQGqVKd1jU7jojGVKFv02v0xU,2341
@@ -117,7 +117,7 @@ robotic/include/rai/Kin/dof_path.h,sha256=XRPj3bH90JUIdkTS4jxwbAb5n9yAsRoemWUWUV
 robotic/include/rai/Kin/feature.h,sha256=xicsrElMcYnYXdIXdO5LBLmXxvCGVUVgZJY2NIarO5I,3935
 robotic/include/rai/Kin/featureSymbols.h,sha256=JVXbXoW43PlEGOgwHPpULlbXUQzkl79F1EFnfl-0wyk,1984
 robotic/include/rai/Kin/frame.h,sha256=lYP6v7yZodtCQrfVg61H9qwtOsiYab9l7y2BHLOmeXY,14440
-robotic/include/rai/Kin/kin.h,sha256=BFZAdY7RRHhBtcjSkZf32EFhJswot1u3mIUn3P13qt4,15547
+robotic/include/rai/Kin/kin.h,sha256=IBnhAcpn1R6ubXCh1dSac-NBhKZA_i8-GCK7eJBwme4,15610
 robotic/include/rai/Kin/kin_bullet.h,sha256=y8aApXpXY4bD5QN_WmDAU2vNEvvbdo1Rd4zY7qo-FKE,1970
 robotic/include/rai/Kin/kin_feather.h,sha256=o-hOJA8UcmIBKx_qPzoG9R7fxzz-4zhBNMBmBTK21oA,1627
 robotic/include/rai/Kin/kin_ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c1Y,3686
@@ -347,6 +347,13 @@ robotic/rai-robotModels/pr2/pr2_description/meshes/upper_arm_v0/elbow_flex.ply,s
 robotic/rai-robotModels/pr2/pr2_description/meshes/upper_arm_v0/forearm_roll.ply,sha256=tm0QfQgssjev648wWCbrVDodi1hMgi9kfBfCed6TPJM,19230
 robotic/rai-robotModels/pr2/pr2_description/meshes/upper_arm_v0/forearm_roll_L.ply,sha256=yykffZwhCqhqAG2sQi2hwiNBzfzeXBjxL2fr7YcWq5U,4459
 robotic/rai-robotModels/pr2/pr2_description/meshes/upper_arm_v0/upper_arm.ply,sha256=39sYPJsVZNWelcC4yX12toVRtQC3KKS1CMyyQNmNSUg,33860
+robotic/rai-robotModels/ranger/ranger.g,sha256=FFnALDKjUHIFh8qBMgjGSENlxqgwhGdXca2QeinaSkQ,1331
+robotic/rai-robotModels/ranger/ranger_clean.g,sha256=uvTXQ3Dp9DeZqNGVqst4i0FwaZpgxEDVuWOxYJEPpnc,2106
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+robotic/rai-robotModels/ranger/meshes/cleanMeshes.sh,sha256=JK8w118AZQl0GiN873DNZsNfB6Q61gsW3qnTcmREaQQ,211
+robotic/rai-robotModels/ranger/meshes/ranger_mini3.ply,sha256=OUhhCPG4dFCrpa-O95bbJ8E-wx-Gu8fGrjGgq2ZS91o,332381
+robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel.ply,sha256=W8__YI0o8dCDLKnPNfkOReN4ThCKhAOqqFKYxogR8bc,377953
+robotic/rai-robotModels/ranger/meshes/ranger_mini_v3_wheel_right.ply,sha256=s0IUxZqvsZmCNkXUXrtUT7bv5V38sRXczVTPiAnmwD8,376946
 robotic/rai-robotModels/robotiq/robotiq.g,sha256=C74qu9Ca7F1uNtSxyhQ9Er7g9XB1SVdoFrqihbI-NRU,1057
 robotic/rai-robotModels/robotiq/robotiq_clean.g,sha256=s1QwMa1s-Y29aB70IUfuK0s96gxnIUhTzvQZ31pvld8,3737
 robotic/rai-robotModels/robotiq/meshes/visual/robotiq_arg2f_85_base_link.ply,sha256=Wsp8wg1vwELn1rUAAn3tosY9a6uLUy3C96OVoOtzB9k,299782
@@ -398,16 +405,16 @@ robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/UpperArm.ply,sha2
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist1.ply,sha256=Qmlgt3g046pi8GPzlUBKbDcR-4JehZkXfSRNabe_RVI,282487
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist2.ply,sha256=br9zVxfiGNlEMAuVm36e2dJ0chDKpVMe3H1MCh-318E,784726
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist3.ply,sha256=el2jO6EOzwgz3ybkKjz9XcjCIQJWCpOCgTA7DSFHz6U,25593
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